#ifndef _IMU_H_
#define _IMU_H_
#include "common_headfile.h"
class imu_data
{
public:
    int16_t acc_x;
    int16_t acc_y;
    int16_t acc_z;
    int16_t gyro_x;
    int16_t gyro_y;
    int16_t gyro_z;
    imu_data() : acc_x(0), acc_y(0), acc_z(0), gyro_x(0), gyro_y(0), gyro_z(0)
    {
    }
};
class angle_data
{
public:
    float AngleOffset;
    float g_fGyroAngleInte;
    float FilteAngle;
    float AngleAtan;
    float FuseAngle; // 融合之后的角度
    float FinalAngle;
};
extern imu_data mpu6050_data;
extern imu_data mpu6050_data_lpf;
extern angle_data X_Roll;
extern angle_data Y_Pitch;
extern angle_data Z_Yaw;
void mpu6050_read();
void mpu6050_init();
#endif